Electric push rod device for vector propulsion propeller

Abstract

The invention discloses an electric push rod device for a vector propulsion propeller. The electric push rod device is installed between the vector propulsion propeller and a fixing base. The electric push rod device is used for providing thrust for the vector propulsion propeller; a flexible connector is connected between an output shaft of a motor in the electric push rod device and one end of a lead screw, and the connected flexible connector is used for reducing vibration transmitted to the motor when a propeller rotates at a high speed. Power generated by the motor is transmitted to the lead screw through the flexible connector, and a lead screw nut on the lead screw is made to rotate in a rolling mode; and the lead screw nut pushes the lead screw sleeve to reciprocate to finish the linear telescopic action of the electric push rod. And through the separated design of the outer frame and the inner execution assembly, the electric push rod device can stably operate in the vibration environment generated by rotation of the propeller, structural fatigue damage is effectively prevented, and the durability and stability of the device are improved.

Description

Technical Field

[0001] The present invention relates to an electric push rod device, and more particularly to an electric push rod device for a vector propulsion propeller suitable for an unmanned aerial vehicle (such as an airship, a tethered airship or a drone). Background Art

[0002] Unmanned aerial vehicles such as airships, tethered airships or drones generally include an organism, a power unit, a flight control system, etc. The flight control system further includes a mission equipment subsystem, a measurement and control and information transmission subsystem, a command and control subsystem, a launch and recovery subsystem, and a support and maintenance subsystem, etc. Unmanned aerial vehicles usually use fuel piston engines, propellers, jet engines or brushless motors as power units.

[0003] In the field of unmanned aerial vehicle technology, vector propulsion technology is widely used in various devices. Due to the complex flight environment, the performance requirements of the power device of unmanned aerial vehicles (such as airships, tethered airships or drones) are extremely high. The ideal push rod device should be able to complete the component of the lift of the wing surface of the vector propulsion propeller in the forward direction, and the component in the rotation direction is the torque force that the propeller must overcome.

[0004] "Mechanical Transmission" published "Research Status and Development Trend of Electric Cylinders" in Volume 39, Issue 3, 2015, Pages 181-186, authored by Chen Chao, Zhao Shengton, Cui Minchao, Cai Houyong, Li Xue. The article first introduced the characteristics and performance requirements of electric cylinders, and listed some application occasions of electric cylinders. It also introduced the research status of electric cylinders from both foreign and domestic perspectives, and explained the common structures of electric cylinders. Finally, the development trend of electric cylinders was prospected.

[0005] An electric push rod is an electric drive device that converts the rotational motion of a motor into reciprocating linear motion of a push rod through mechanical transmission. Initially, the operation of the electric push rod was controlled by a simple switch-type drive. In recent years, speed control using PWM technology has also emerged, such as propulsion, stop, retraction and speed control. However, the traditional electric push rod device on the unmanned aerial vehicle has low control accuracy under the vibration environment generated by the rotation of the propeller, and due to rigid connection and material fatigue problems, structural fatigue damage often occurs. In addition, the push rod nut in the prior art is usually made of nylon, which has good lubrication performance but low material fatigue strength.

[0006] Therefore, how to design an electric push rod device that can operate stably in the vibration environment generated by the rotation of the vector propulsion propeller and can effectively prevent structural fatigue damage is a problem that needs to be solved urgently. Summary of the invention

[0007] The present invention discloses an electric push rod device for a vector propulsion propeller, which is applied to an unmanned aerial vehicle, which may be an airship, a tethered airship or a drone.

[0008] The technical problem to be solved by the electric push rod device of the present invention is that, on the one hand, the wing lift of the vector propulsion propeller of the unmanned aerial vehicle should be large and the torque force should be small when the unmanned aerial vehicle is in the forward direction, so that the power supplied by the propeller is large and the unmanned aerial vehicle can be long-term flight. On the other hand, it can operate stably under the vibration condition caused by the rotation of the vector propulsion propeller in the working state, and can effectively prevent structural fatigue damage.

[0009] The electric push rod device of the present invention comprises:

[0010] A first support frame (1) is used to support the electric push rod actuator assembly;

[0011] A second support frame (3) is used to fix the rear end cover (9) on the one hand, and to complete the installation of the motor (15) on the other hand;

[0012] The electric push rod actuator assembly comprises a flexible connector (10), a bearing (14), a transfer rod (7), a lead screw (2), a lead screw nut (4) and a lead screw sleeve (5).

[0013] The motor (15) drives the lead screw (2) to rotate, so that the lead screw nut (4) on the lead screw (2) pushes the lead screw sleeve (5) to move toward the adapter (100B) end of the vector propulsion propeller (100), and finally the rotating rocker arm (100A) rotates at an effective angle The adapter (100B) is connected to the rotating rocker arm (100A) in a rotating pair, and the other end of the adapter (100B) is installed in the front cap (8), and the other end of the front cap (8) is connected to the lead screw sleeve (5).

[0014] When the motor (15) drives the screw sleeve (5) to make a linear motion through the screw rod (2), the linear stroke Converted into rocker arm rotation angle , the two satisfy the relationship , It is the distance from the rotation axis of the rocker arm to the center point of the connecting hole at the end of the push rod.

[0015] Furthermore, two position switches (16A, 16B) are respectively mounted at two ends of the first support frame (1), and the brass lead screw nut (4) triggers the position switch at the two ends of the stroke, thereby powering off the motor (15) to prevent the motor (15) from being damaged by excessive resistance current.

[0016] Furthermore, the resistance ruler (13) is used to monitor the real-time movement position of the brass screw nut (4).

[0017] The motor (15) is the main power source of the electric push rod device and is responsible for providing rotational power; the flexible connector (7) is a component connecting the motor (15) and the screw (2), and its main function is to absorb the vibration generated by the rotation of the propeller and protect the motor (15) and the screw (2) from the vibration; the screw (2) is a component for transmitting rotational power, and its rotation drives the screw nut (4) and the screw sleeve (5) to perform linear motion; the brass screw nut (4) has excellent wear resistance and fatigue resistance, and can ensure the stable operation of the electric push rod device.

[0018] Furthermore, the motor (15) is connected to the screw (2) via the flexible connector (10). When the motor (15) is started, the rotational power generated by the motor is transmitted to the screw (2) via the flexible connector (10), causing the screw (2) to rotate. At the same time, the flexible connector (10) isolates the vibration generated by the rotation of the propeller and transmitted to the screw (2), thereby protecting the motor (15).

[0019] Furthermore, the rotating screw (2) drives the screw nut (4) and the screw sleeve (5) to reciprocate in a linear direction, thereby realizing a linear telescopic motion of the electric push rod. The screw nut (4) is made of brass to ensure lubricity, wear resistance and fatigue resistance between the screw (2) and the screw nut (4) during the rotation process, thereby meeting the operational requirements of stability and reliability of the electric push rod device.

[0020] The technical effects produced by the electric push rod device of the present invention are:

[0021] (1) The electric push rod device of the present invention is installed between the motor (15) and the lead screw (2) via a flexible connector (10), which effectively absorbs the vibration and impact generated by the rotation of the propeller, reduces the direct impact on the motor, and increases the service life of the motor.

[0022] (2) The screw nut (4) in the electric push rod device of the present invention is made of brass material. In the prior art, the push rod nut is usually made of nylon material, and its breaking strength is 50MPa to 80MPa. The breaking strength of brass is greater than 440MPa, which is 5 to 10 times higher than that of nylon. Therefore, the brass nut has better fatigue resistance while ensuring wear resistance and self-lubrication, and can ensure the stability and reliability of the device in a long-term propeller vibration environment.

[0023] (3) The external frame assembly in the electric push rod device of the present invention adopts a separate component design, which reduces the processing cost on the one hand and facilitates the assembly of the internal electric push rod actuator assembly on the other hand.

[0024] (4) The electric push rod device of the present invention adopts a separate design of the external frame component and the internal electric push rod actuator component, which is convenient for assembly, replacement and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an assembly diagram of the electric push rod device and the propeller device of the present invention.

[0026] Figure 1A It is another viewing angle of the electric push rod device and the propeller device of the present invention.

[0027] Figure 2 It is an external structural diagram of the electric push rod device of the present invention.

[0028] Figure 2A It is an external structural diagram of the electric push rod device of the present invention from another perspective.

[0029] Figure 2B It is an exploded view of the electric push rod device of the present invention.

[0030] Figure 2C It is a structural diagram of the external frame assembly of the electric push rod device of the present invention.

[0031] Figure 2D It is a structural diagram of the internal execution components of the electric push rod device of the present invention.

[0032] Figure 2E It is an assembly diagram of a flexible connector and a lead screw nut in the electric push rod device of the present invention.

[0033] Figure 3 It is a front view of the electric push rod device of the present invention.

[0034] Figure 3A It is a bottom view of the electric push rod device of the present invention.

[0035] Figure 3B yes Figure 3A A-A section view.

[0036] Figure 4 It is a structural diagram of the first support frame in the electric push rod device of the present invention.

[0037] Figure 4A This is a structural diagram of the first support frame in the electric push rod device of the present invention from another perspective.

[0038] Figure 5 It is a structural diagram of the second support frame in the electric push rod device of the present invention.

[0039] Figure 5A This is a structural diagram of the second support frame in the electric push rod device of the present invention from another perspective.

[0040] Figure 6It is a structural diagram of the lead screw nut in the electric push rod device of the present invention.

[0041] Figure 7 It is a structural diagram of the front end cover in the electric push rod device of the present invention.

[0042] Figure 8 It is a structural diagram of the transfer rod in the electric push rod device of the present invention.

[0043] Fig. 8A This is another perspective diagram of the transfer rod structure in the electric push rod device of the present invention.

[0044] Fig. 9 It is a structural diagram of the rear end cover in the electric push rod device of the present invention.

[0045] Fig.10 It is a structural diagram of a flexible connector in the electric push rod device of the present invention.

[0046] Fig. 10A It is a structural diagram of the flexible connector in the electric push rod device of the present invention from another perspective.

[0047] Fig.11 It is a first-order modal diagram of a flexible connection between a driving motor and a lead screw in the electric push rod device of the present invention.

[0048] Fig.12 It is the first-order modal diagram of a traditional electric push rod device with a rigid connection between the drive motor and the lead screw.

[0049] Fig.13 It is a third-order modal diagram of a flexible connection between a driving motor and a lead screw in the electric push rod device of the present invention.

[0050] Fig.14 It is the third-order modal diagram of a traditional electric push rod device with a rigid connection between the drive motor and the lead screw.

[0051] Fig.15 It is a fifth-order modal diagram of a flexible connection between a driving motor and a lead screw in the electric push rod device of the present invention.

[0052] Fig.16 It is the fifth-order modal diagram of a rigid connection between the drive motor and the lead screw in a traditional electric push rod device.

[0053] Fig.17 It is a seventh-order modal diagram of a flexible connection between a driving motor and a lead screw in the electric push rod device of the present invention.

[0054] Fig.18 It is the seventh-order modal diagram of a traditional electric push rod device with a rigid connection between the drive motor and the lead screw.

[0055] Fig.19It is a ninth-order modal diagram of a flexible connection between a driving motor and a lead screw in the electric push rod device of the present invention.

[0056] Fig. 20 It is the ninth-order modal diagram of a traditional electric push rod device with a rigid connection between the drive motor and the lead screw.

[0057] Fig.21 It is a tenth-order modal diagram of a flexible connection between a driving motor and a lead screw in an electric push rod device of the present invention.

[0058] Fig. 22 It is the tenth-order modal diagram of a traditional electric push rod device with a rigid connection between the drive motor and the lead screw.

[0059] DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The various parameter demonstrations listed are only preferred embodiments of the present invention. It should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

[0061] See also Figure 1 , Figure 1A As shown, the present invention is designed to be an electric push rod device 200 suitable for use on an unmanned aerial vehicle (such as an airship, a tethered airship or a drone), and the electric push rod device 200 provides thrust for a vector propulsion propeller 100. Since the electric push rod device 200 is used on an unmanned aerial vehicle (such as an airship, a tethered airship or a drone), the size is larger than that of a civilian electric push rod, and the output bearing capacity is relatively large; the transmission efficiency of the electric push rod device is 800mm / s to 1500mm / s, and the maximum thrust can reach 500kN; the third aspect is that when the electric push rod device 200 is used in conjunction with a resistance ruler 13, the displacement reciprocating accuracy reaches 0.005mm. The electric push rod device 200 is installed between the vector propulsion propeller 100 and the fixed seat 300, that is, the adapter 100B of the vector propulsion propeller 100 is connected to the rotating rocker arm 100A as a rotating pair; the other end of the adapter 100B is installed in the front cap 8 of the electric push rod device 200; the circular connecting end 9C of the rear end cover 9 of the electric push rod device 200 is installed on the circular joint 300A of the fixed seat 300.

[0062] See also Figure 1 , Figure 1A , Figure 2 , Figure 2A , Figure 2B , Figure 3BAs shown, the electric push rod device designed by the present invention is suitable for a vector propulsion propeller, which includes an external frame component, an electric push rod execution component, an electric push rod driving component, a position switch (16A, 16B) and a resistance ruler 13, etc.

[0063] like Figure 2A , Figure 2B , Figure 2C As shown, the frame assembly is composed of a front cap 8, a front end cover 6, a first support frame 1, a gasket 12, a second support frame 3 and a rear end cover 9. Figure 2C The frame assembly shown is assembled (distributed from left to right) as the rear end cover 9, the second support frame 3, the gasket 12, the first support frame 1, the front end cover 6 and the front cap 8. The position switch 16A and the B position switch 16B for limiting the starting position and the ending position of the screw nut 4A are relatively installed above the first support frame 1. The resistance ruler 13 for real-time reading of the stroke of the screw nut 4A is installed below the first support frame 1.

[0064] like Figure 2D As shown, the actuator of the electric push rod is composed of a flexible connector 10, a bearing 14, a transfer rod 7, a screw 2, a screw nut 4 and a screw sleeve 5. The mechanical transmission element is matched with the motor 15 to realize the function of the electric cylinder. It occupies a small space, is convenient for component layout, has a simple structure, is easy to process and replace, and is easy to find the cause of the fault when a fault occurs. The actuator of the electric push rod can be suitable for an ambient operating temperature of -30°C to 80°C, and the working performance is less affected by temperature fluctuations. The screw 2 and the screw nut 4 can be in the form of a linear guide in which a ball screw and a ball screw nut are matched. The motor 15 provides power for the flexible connector 10 and the screw 2. The rotation of the screw 2 drives the screw nut 4 and the screw sleeve 5 connected to the through screw nut 4 to move forward and backward, completing the linear telescopic action of the electric push rod.

[0065] The driving assembly of the electric push rod is composed of a motor 15 and a motor connecting plate 11. The motor 15 is a DC servo motor, and the control characteristics of the servo motor are utilized to conveniently realize accurate control of thrust, speed and position.

[0066] The bearing 14 is a deep groove ball bearing. The bearing 14, the screw nut 4 and the screw 2 form a lot of balls that roll between the screws of the ball screw pair. The housing of the motor 15 is fixed on the motor connecting plate 11, and the motor connecting plate 11 is placed in the hole of the second support frame 3 and fixed to the second support frame 3. A screw is passed through the C countersunk through hole 3E of the second support frame 3 and then threadedly fixed in the K threaded hole 11B of the motor connecting plate 11.

[0067] The position switches (16A, 16B) are used to limit the return position of the screw nut 4, thereby limiting the maximum stroke of the push rod. That is, the screw nut 4 automatically moves back and forth between the A position switch 16A and the B position switch 16B.

[0068] The flexible connector 10 is used to realize the connection between the screw rod 2 and the output shaft of the motor 15. The motor 15 is connected to the screw rod 2 through the flexible connector 10. On the one hand, the flexible connector 10 can effectively absorb the vibration generated by the rotation of the propeller and reduce the impact on the motor 15; on the other hand, it reduces the vibration transmitted to the motor 15 when the propeller rotates at high speed, thereby improving the stability and service life of the equipment.

[0069] The driving force provided by the motor 15 causes the lead screw nut 4 to move on the lead screw 2 , thereby completing the lead screw nut 4 pushing the lead screw sleeve 5 to perform linear motion on the lead screw 2 .

[0070] One end of the front cap 8 is used to complete the connection with the adapter 100B of the vector propulsion propeller 100 , and the other end is connected to the lead screw sleeve 5 .

[0071] The resistance ruler 13 is used to monitor the real-time movement position of the brass screw nut 4. The front end of the resistance ruler 13 is installed on the front cover 6, and the rear end of the resistance ruler 13 is installed on the second support frame 3.

[0072] The electric push rod device for vector propulsion propeller is assembled as follows: the output shaft of the motor 15 is connected to the rear end of the screw 2 through the flexible connector 10; the screw 2 is sleeved with a bearing 14, the bearing 14 is installed in the through hole of the rear end panel of the first support frame 1, and the screw 2 is supported by the rear end panel of the first support frame 1; the motor 15 provides a driving force for the screw 2 to rotate. The screw 2 is installed on the first support frame 1 through the bearing 14. The screw sleeve 5 is fixed on the screw nut 4, and the screw nut 4 is sleeved on the screw 2. When the screw 2 rotates, the screw nut 4 is driven to move forward and backward along the screw axis, and further drives the screw sleeve 5 to move forward and backward. The motor 15 is fixed on the motor connecting plate 11 in the second support frame 3, and the rear end cover 9 of the second support frame 3 is provided with a bearing installation groove, and a joint bearing is installed in the bearing installation groove, and the joint bearing is connected and fixed to the fixing seat 300. The end of the lead screw sleeve 5 is fixed to a front cap 8 on the outside of the first support frame 1 . A threaded hole is formed on the front cap 8 . A spherical bearing 100B is installed in the threaded hole. The spherical bearing 100B is connected to the rotating rocker arm 100A.

[0073] The first support frame 1

[0074] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B , Figure 4 , Figure 4A As shown, the first support frame 1 is an integrally formed metal structure. One end of the first support frame 1 is an AA frame panel 1A (a B position switch 16B is installed on the inner side of the AA frame panel 1A), and the other end is an AB frame panel 1B (an A position switch 16A is installed on the inner side of the AB frame panel 1B); guard plates (AA guard plate 1C, AB guard plate 1D, AC guard plate 1E, AD guard plate 1F) are arranged between the AA frame panel 1A and the AB frame panel 1B, and the guard plates are used to protect the lead screw sleeve 5 from colliding with external devices.

[0075] An AA through hole 1A1 for mounting a bearing 14 is provided at the center of the AA frame panel 1A.

[0076] The panel of the AA frame panel 1A is provided with an AC through hole 1A2. When the gasket 12 is placed between the second support frame 3 and the AA frame panel 1A of the first support frame 1 and aligned, the screw passes through the AC through hole 1A2 and the through hole on the gasket 12 in sequence and is threadedly connected to the CB threaded hole 3B11 of the second support frame 3. The gasket 12 is installed between the AA frame panel 1A of the first support frame 1 and the C front end shell panel 3B of the second support frame 3. On the one hand, it is convenient for the disassembly and installation between the first support frame 1 and the second support frame 3. On the other hand, it reduces the production cost of the outer shell of the electric push rod device. Since it is a large structural part, when the length-diameter ratio is relatively large, the processing cost of the split part is lower than that of the integral part.

[0077] An AB through hole 1B1 for the screw sleeve 5 to pass through is provided at the center of the AB frame panel 1B.

[0078] A front end cover 6 is mounted on the outer side of the AB frame panel 1B.

[0079] An AA switch installation slot 1G is provided at one end between the AA guard plate 1C and the AB guard plate 1D, and the AA switch installation slot 1G is used to install the B position switch 16B; an AB switch installation slot 1H is provided at the other end between the AA guard plate 1C and the AB guard plate 1D, and the AB switch installation slot 1H is used to install the A position switch 16A. The A position switch 16A and the B position switch 16B are used to trigger the return position of the lead screw nut 4.

[0080] Screw 2

[0081] The lead screw 2 is made of stainless steel or aluminum alloy.

[0082] See also Figure 2B , Figure 2E , Figure 3B As shown, the screw rod 2 is an integrally formed metal structural part. The screw rod 2 is provided with a screw thread section 2C and a screw contraction section 2A.

[0083] The screw thread segment 2C may be a trapezoidal thread.

[0084] The rear end of the screw contraction section 2A is provided with a screw opening 2B. A J-bolt lock 10B of the flexible connector 10 is installed in the screw opening 2B.

[0085] In the present invention, one end of the screw rod 2 is connected to the motor 15 through the flexible connector 10, and the output shaft of the motor 15 rotates to drive the screw rod 2 to move, so that the screw sleeve 5 sleeved on the outside of the screw rod 2 moves linearly along the screw rod 2.

[0086] Second support frame 3

[0087] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B , Figure 5 , Figure 5A As shown, one end of the second support frame 3 is a C rear end shell panel 3A, and the other end is a C front end shell panel 3B. A U-shaped opening slot 3C is provided below the C rear end shell panel 3A, and the U-shaped opening slot 3C is used for the connection line of the motor 15 to pass through. An outer flat panel 3D is provided below the C front end shell panel 3B, and a CC threaded hole 3D1 is opened on the outer flat panel 3D. One end of the resistor 13 is installed on the outer flat panel 3D, and a screw passes through the through hole on one end of the resistor 13 and is threadedly connected to the CC threaded hole 3D1.

[0088] A plurality of C-countersunk through holes 3E are provided on the shell of the second support frame 3, and screws passing through the C-countersunk through holes 3E are installed in the K-threaded holes 11B of the motor connecting plate 11. The screws enable the motor connecting plate 11 to be installed inside the second support frame 3, thereby stably fixing the motor 15 placed inside the second support frame 3.

[0089] The outer circumferential surface of the C rear end shell panel 3A is provided with a C convex connector 3A1, and a CA threaded hole 3A11 is opened on the C convex connector 3A1. After the CA threaded hole 3A11 on the C convex connector 3A1 is aligned with the convex hole 9A1 on the connection panel 9A of the rear end cover 9, a screw is passed through the convex hole 9A1 and then threadedly connected in the CA threaded hole 3A11, so that the rear end cover 9 and the C rear end shell panel 3A of the second support frame 3 are fixed.

[0090] The inner circumference of the C front end shell panel 3B is provided with a C inner convex connector 3B1, and a CB threaded hole 3B11 is opened on the C inner convex connector 3B1. The screws are sequentially passed through the AC through hole 1A2 on the AA frame panel 1A and the through hole on the gasket 12, and then threadedly connected to the CB threaded hole 3B11 of the C front end shell panel 3B of the second support frame 3.

[0091] In the present invention, the second support frame 3 is used to fix the motor 15 on one hand, and is fixed to the rear end cover 9 on the other hand, and is fixed to the AA frame panel 1A of the first support frame 1 through the gasket 12. A resistance scale 13 is installed below the second support frame 3 and the first support frame 1.

[0092] Screw nut 4

[0093] See also Figure 2B , Figure 2D , Figure 2E , Figure 3B , Figure 6 As shown, the lead screw nut 4 is made of brass. The travel of the lead screw nut 4 on the lead screw 2 is triggered by the position switch (16A, 16B), thereby disconnecting the motor 15 to prevent the motor 15 from being damaged by excessive resistance current. One end of the resistance ruler 13 is in cylindrical contact with the lead screw nut 4 through the adapter rod 7 to monitor the real-time travel position of the lead screw nut 4.

[0094] See also Figure 6 As shown, the center of the spindle nut 4 is a trapezoidal threaded through hole 4A, and the trapezoidal threaded through hole 4A is used for the spindle thread section 2C of the spindle 2 to pass through and be threadedly connected to the spindle 2.

[0095] A DA cylinder 4B and a DB cylinder 4C are provided on the outside of the lead screw nut 4. The DA cylinder 4B is used to trigger the position switch (16A, 16B) when it contacts the position switch; or the DB cylinder 4C is used to trigger the position switch (16A, 16B) when it contacts the position switch.

[0096] The rear end of the screw sleeve 5 is sleeved on the connecting section 4D of the screw nut 4 .

[0097] In the present invention, the brass screw nut 4 has a stronger fatigue resistance than the nylon screw nut, so the use of the brass nut can also increase the service life of the electric push rod device. The screw nut 4 is made of brass, which has good wear resistance and fatigue resistance, and can withstand long-term use without fatigue damage.

[0098] Screw sleeve 5

[0099] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B As shown, the center of the screw sleeve 5 is the E through hole 5A (as shown in Figure 2BAs shown in FIG. 1 , the through hole 5A is used for one end of the lead screw 2 to pass through. The rear end of the lead screw sleeve 5 is connected to the connecting section 4D of the lead screw nut 4; the front end of the lead screw sleeve 5 is installed with a front cap 8. The front cap 8 is used to connect with the adapter 100B in the propeller device 100.

[0100] Front cover 6

[0101] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B , Figure 7 As shown, the front end cover 6 is provided with an F through hole 6A, and the two sides of the front end cover 6 are respectively provided with an FA support arm 6B and an FB support arm 6C.

[0102] On the one hand, the FA support arm 6B and the FB support arm 6C are used to support the AB frame panel 1B of the first support frame 1; on the other hand, the F gap 6D formed by the FA support arm 6B and the FB support arm 6C is used to place the front end of the resistance ruler 13.

[0103] The F through hole 6A is used for the front end of the screw sleeve 5 to pass through, and the front end of the screw sleeve 5 after passing through the F through hole 6A of the front end cover 6 is connected to the front cap 8 .

[0104] Adapter rod 7

[0105] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B , Figure 8 , Fig. 8A As shown, a GA panel 7A and a GB panel 7B are provided on the transfer rod 7; a G cylinder 7C is provided below the GA panel 7A; and a G through hole 7B1 is provided on the GB panel 7B.

[0106] The GB panel 7B of the transfer rod 7 is mounted on the outer panel 3D of the second support frame 3 , and the GA panel 7A of the transfer rod 7 is placed at the rear end of the resistor scale 13 and contacts the resistor scale 13 via the G cylinder 7C.

[0107] The adapter rod 7 is used to realize the movable installation of the resistance ruler 13 between one end of the second support frame 3 and the front end cover 6, which can also facilitate the disassembly and maintenance of the resistance ruler 13.

[0108] Front cap 8

[0109] See also Figure 2 , Figure 2A , Figure 2B , Figure 3, Figure 3A , Figure 3B As shown, the front end of the front cap 8 is provided with an H-threaded blind hole 8A, and the front cap 8 is provided with an H-connecting section 8B.

[0110] The H-connecting section 8B of the front cap 8 is connected to the front end of the screw sleeve 5 .

[0111] One end of the adapter 100B is connected to the H-threaded blind hole 8A at the front end of the front cap 8 .

[0112] In the present invention, the connection between the lead screw sleeve 5 and the adapter 100B is realized by the front cap 8, and the replacement and maintenance of the lead screw sleeve 5 with a length-to-diameter ratio are considered. This is also a way to reduce the production and processing cost of the electric push rod device.

[0113] Rear end cover 9

[0114] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B , Fig. 9 As shown, the rear end cover 9 is provided with a connection panel 9A and a circular connection end 9B. In order to reduce the weight of the rear end cover 9, a weight reduction hole 9B is provided; the circular connection end 9B is used to connect with the circular connector 300A of the fixing seat 300.

[0115] An external lug 9A1 is provided on the outer edge of the connecting panel 9A, and a lug hole 9A11 is provided on the external lug 9A1. The connecting panel 9A is aligned with the C external convex connector 3A1 of the C rear end shell panel 3A of the second support frame 3, and the lug hole 9A11 is also aligned with the CA threaded hole 3A11. After a screw passes through the lug hole 9A11 on the external lug 9A1 of the rear end cover 9, it is threadedly connected in the CA threaded hole 3A11 of the C external convex connector 3A1, thereby realizing the fixed installation of the rear end cover 9 and the C rear end shell panel 3A of the second support frame 3.

[0116] Flexible connector 10

[0117] See also Figure 2B , Figure 2D , Figure 2E , Figure 3B , Fig.10 , Fig. 10A As shown, the front end of the flexible connector 10 is a J latch 10B, and the rear end of the flexible connector 10 is a J connecting section 10A.

[0118] A J blind hole 10E is provided at the center of the J connecting segment 10A, and a JA through hole 10C and a JB through hole 10D are provided on the body of the J connecting segment 10A. The JA through hole 10C is used to place a pin, and the JB through hole 10D is used to place another pin. The cooperation between the pin and the through hole is used to achieve the fixation of the output shaft of the motor 15 and the J connecting segment 10A of the flexible connector 10.

[0119] The J-bolt lock 10B of the flexible connector 10 is installed in the screw opening 2B of the screw 2. The flexible connector 10 is arranged between the screw 2 and the motor 15 to transmit the driving force provided by the motor 15 to the screw 2 through the flexible connector 10. The center of the ball rolling motion in the screw nut 4 on the screw 2 to push the screw sleeve 5 to make a linear reciprocating motion is the trapezoidal threaded through hole 4A, which is used for the screw thread section 2C of the screw 2 to pass through and be threadedly connected to the screw 2. When installed with the motor 15, the driving force provided by the motor 15 is realized to make the screw 2 rotate.

[0120] The output shaft of the motor 15 is placed in the J blind hole 10E of the J connecting section 10A of the flexible connector 10 , and a pin is passed through the through holes (JA through hole 10C and JB through hole 10D) to fix the output shaft of the motor 15 to the rear end of the flexible connector 10 .

[0121] In the present invention, the flexible connector 10 is placed between the motor connecting plate 11 and the gasket 12 (not in contact), and is placed in the hole at the front end of the second support frame 3 (not in contact with the shell of the second support frame 3), which is beneficial to reduce the vibration transmitted to the motor 15 when the propeller rotates at high speed.

[0122] Motor connecting plate 11

[0123] See also Figure 2B , Figure 2D , Figure 2E , Figure 3B As shown, the motor connecting plate 11 is provided with a K through hole 11A, and the K through hole 11A is used for the output shaft of the motor 15 to pass through. The K threaded hole 11B on the motor connecting plate 11 is used to fix the motor connecting plate 11 to the C countersunk through hole 3E of the second support frame 3.

[0124] Gasket 12

[0125] See also Figure 2 , Figure 2A , Figure 2B , Figure 3 , Figure 3A , Figure 3B As shown, the gasket 12 is provided with an L-shaped through hole 12A, and the L-shaped through hole 12A is used for the front end of the screw sleeve 5 to pass through.

[0126] A gasket 12 is arranged between the first support frame 1 and the second support frame 3, which is beneficial to the assembly of the first support frame 1 and the second support frame 3 on the one hand; on the other hand, it can reduce the production cost of parts of the electric push rod device; thirdly, it is beneficial to the replacement and maintenance of the first support frame 1 and the second support frame 3.

[0127] Multi-order vibration modal analysis

[0128] The vibration mode is an inherent and overall characteristic of the electric push rod device 200. Under the excitation of external forces, the electric push rod device 200 (the motor, flexible connector, lead screw, and lead screw nut are fitted in the mode) will show different vibration characteristics. The modal analysis method can clearly load the characteristics of the main modes of each order (first order, third order, fifth order, seventh order, ninth order, and tenth order) within a certain frequency range, and understand the actual vibration response of the flexible connector and lead screw nut structure under various external or internal vibration sources within this frequency band under the output power of the motor. The modal analysis uses whether or not a flexible connection method is used for comparison. The modal analysis shows that when a flexible connector is used (such as Fig.11 , Fig.13 , Fig.15 , Fig.17 , Fig.19 , Fig.21 ), the deformation between the push rod and the motor in different modes is decoupled, and the push rod will not transmit vibration to the motor. On the contrary, when the flexible connector is not used (such as Fig.12 , Fig.14 , Fig.16 , Fig.18 , Fig. 20 , Fig. 22 ), the push rod will transmit vibration to the motor, causing the motor life to decrease.

[0129] The electric push rod device 200 for vector propulsion propeller designed by the present invention is made of 2 series or 7 series aluminum alloy materials except the screw nut 4. The screw nut 4 is made of brass, which can effectively resist the vibration fatigue caused by flight vibration, improve the accuracy of the screw during pushing, and improve the service life of the whole system. Figure 2E One end of the screw rod 2 is connected to the output shaft of the motor 15 through the flexible connector 10. The motor 15 is not directly affected by the vibration of the propeller when the electric push rod is working. On the one hand, the service life of the motor is improved, and on the other hand, the service life of the entire system can be improved. The position switch 16 and the resistance scale 13 are used to ensure the accuracy of the working stroke of the electric push rod, and the working position of the electric push rod can be accurately monitored during work, so as to accurately control the rotation angle of the actuating mechanism.

[0130] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric push rod device for a vector propulsion propeller, the electric push rod device (200) being installed between the vector propulsion propeller (100) and a fixing seat (300); the electric push rod device (200) is used to provide thrust for the vector propulsion propeller (100); the characteristics are: A flexible connector (10) is connected between the output shaft of the motor (15) and one end of the lead screw (2) in the electric push rod device (200), and the connected flexible connector (10) is used to reduce vibration transmitted to the motor (15) when the propeller rotates at high speed; a lead screw nut (4) is movably connected to the lead screw (2); a lead screw sleeve (5) is fixedly connected to a connecting section (4D) of the lead screw nut (4); the front end of the flexible connector (10) is a J plug lock (10B) for connecting to a lead screw opening (2B) of the lead screw (2); the rear end of the flexible connector (10) is a J connecting section (10A), the output shaft of the motor (15) is placed in the J blind hole (10E) of the J connecting section (10A), and a pin is passed through the through hole to fix the output shaft of the motor (15) to the rear end of the flexible connector (10).

2. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The motor (15) drives the lead screw (2) to rotate, so that the lead screw nut (4) on the lead screw (2) pushes the lead screw sleeve (5) to move toward the adapter (100B) end of the vector propulsion propeller (100), and finally the rotating rocker arm (100A) rotates at an effective angle The adapter (100B) and the rotating rocker arm (100A) are connected as a rotating pair, the other end of the adapter (100B) is installed in the front cap (8), and the other end of the front cap (8) is connected to the screw sleeve (5); when the motor (15) drives the screw sleeve (5) to make a linear motion through the screw rod (2), the linear stroke Converted into rocker arm rotation angle , the two satisfy the relationship , It is the distance from the rotation axis of the rocker arm to the center point of the connecting hole at the end of the push rod.

3. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The electric push rod device (200) does not have a frame assembly and an electric push rod actuator assembly of separate design; the frame assembly is assembled from left to right into a rear end cover (9), a second support frame (3), a gasket (12), a first support frame (1), a front end cover (6) and a front cap (8); a position switch (16A) and a B position switch (16B) for limiting the start position and the end position of the lead screw nut (4A) are relatively mounted above the first support frame (1); a resistance scale (13) for real-time reading of the stroke of the lead screw nut (4A) is mounted below the first support frame (1); the actuator assembly of the electric push rod is assembled from left to right into a flexible connector (10), a bearing (14), a transfer rod (7), a lead screw (2), a lead screw nut (4) and a lead screw sleeve (5).

4. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The screw nut (4) and the screw (2) form a linear guide motion in which the ball rolls on the screw (2).

5. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The actuator of the electric push rod can be suitable for an ambient operating temperature of -30℃ to 80℃.

6. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The screw nut (4) is made of a material having a bearing breaking strength greater than 440 MPa.

7. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The screw nut (4) is made of brass.

8. The electric push rod device for a vector propulsion propeller according to claim 1, characterized in that: The flexible connector (10), the lead screw (2) and the lead screw sleeve (5) are made of aluminum alloy.

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